Commissioning
4.10 Safety Integrated commissioning
Commissioning with Startdrive
276 Commissioning Manual, 11/2017, 6SL3097-4AA10-0BP1
For transmission of the cam status word via PROFIsafe to the F host, the cam signals of the
two monitoring channels are synchronized. The monitoring function also monitors whether a
different cam signal from the second channel is plausible. If the drive detects an error, it
outputs the message C01711 with the disturbance value 1014.
As the position tolerance for monitoring the output cam positions, the tolerance for the cross-
check of the actual position between the two monitoring channels in p9542 ("Actual value
comparison tolerance") is used.
Transmission via PROFIsafe
After SCA has been parameterized and selected, the monitoring results are transmitted in
status word S_ZSW_CAM1.
Function diagrams and parameters
Function diagrams (see SINAMICS S120/S150 List Manual)
2821
- Safe homing
2822
- SLP (Safely-Limited Position)
2826
- SCA (Safe Cam)
2844
- S_ZSW_CAM1 Safety status word Safe Cam 1
Overview of important parameters (see SINAMICS S120/S150 List Manual)
p9572
SI Motion home position (Control Unit)
p9573
SI Motion accept home position (Control Unit)
r9708[0...5]
SI Motion diagnostics safe position
r9713[0...5]
CO: SI Motion diagnostics actual position value load side
r9722.0...31
ion drive-integrated status signals (Control Unit)
r9723.0...17
-integrated diagnostics signals
p9726
SI Motion user agreement selection/deselection
p9740
SI Motion user agreement selection/deselection MM
p9501
le safety functions (Control Unit)
p9534[0...1]
SI Motion SLP (SE) upper limit values (Control Unit)
p9535[0...1]
SI Motion SLP (SE) lower limit values (Control Unit)
p9544
SI Motion actual value comparison tolerance (homing) (CU)
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